Whoa a month, i guess i need to stop procrastinating......

heres my ideas hardware wise, would like some opinions, you mentioned using a better BEC, so I have taken it off the list open for your suggestions, keeping in mind i am trying to be very modular is the reason for the component shield

Motor	6	 $6.00 	 $36.00 	http://www.hobbyking.com/hobbycity/store/uh_viewItem.asp?idProduct=5354&aff=104834
ESC	6	 $9.23 	 $55.38 	http://www.hobbyking.com/hobbycity/store/uh_viewItem.asp?idProduct=6458&Product_Name=Hobbyking_SS_Series_25-30A_ESC_%28card_programmable%29&aff=104834
Props	8	 $4.00 	 $32.00 	https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=75&products_id=256&zenid=43fb24fa5fbee9bca99cea5ee6462e48
Battery	3	 $19.00 	 $57.00 	http://hobbycity.com/hobbyking/store/uh_viewItem.asp?idProduct=7634
Battery Charger	1	 $25.00 	 $25.00 	http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=2055 
Frame	1	 $90.00 	 $90.00 	http://quadframe.com/html/quad002.html
RC Transmitter	1	 $60.00 	 $60.00 	http://hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=8992
ITG3200/ADXL345	1	 $65.00 	 $65.00 	http://www.sparkfun.com/products/10321
Component Shield	1	 $22.00 	 $22.00 	http://www.robotshop.ca/ghi-component-shield-v2.html
JST Sensor Cable	20	 $1.76 	 $35.20 	http://www.robotshop.ca/inex-jst3aa-sensor-cable.html

lol, guess i responded too quickly, thank you for your suggestions

Thanks Mark that makes sense, we need to just concentrate on throttle and throttle alone.
Chris thank you for the forum etiquette reminder. The posts were fast given we we had discovered the algo at the exact same time i replied and implemented it in code, i've attached our algo. i think you might be on to something as far as making it a scaling variable that can change as the flight conditions change.

using System;
namespace Quad.Net.Commons.Utilities
{
    public class Scale
    {
        private readonly double[] _coefficients;
        private readonly double _offset;

        public Scale(double offset, params double[] coefficients)
        {
            _coefficients = coefficients;
            _offset = offset;
        }

        public double Calculate(double value)
        {
            double output = 0;

            for (int i = 0; i < _coefficients.Length; i++)
            {
                output += Math.Pow(value + _offset, i) * _coefficients[_coefficients.Length - i - 1];
            }
            return output;
        }
    }
}
namespace Quad.Net.Tests
{
    [TestFixture]
    public class ScaleTests
    {
        [Test]
        public void TestQuadratics()
        {
            Scale scale = new Scale(-1500, 0.0000008, 0, 0, 0);
            Assert.AreEqual(scale.Calculate(1000),-100);
        }
    }
}

understand it now, we just compensated in code rather than on tx, that will allow any tx to connect and we should be able to calibrate for it

Chris, what do you mean by dual rates and expo on TX, we are trying to compensate for some odd things in tx right now, is there a concept we're missing

all of them have great reviews, i may be following your lead here. frame wise i am still uncertain i might be going full on here and get one of these guys http://www.maximus-r...fr/maxicopters/

Hi Chris, Take a checkout of ours and tell me if you want to merge a bit where you think necessary, it looks like we're a bit further and if you have any experience writing control loops or quad code, the more help the better

Thanks Zerov, do you want commit authority on the source? I've looke at your stuff as well, i think there's alot we can do to help one another, like your circular byte collection code.

updated source to clarify usage, escs are taken out

the esc code is depricated, we dont use it, the starting point is from the fez panda implementation right now. If logging is taken out ie(send in a null logger, or take out the write from the control loop) we have no GC hit at all given everything is declared up front, the telemetry data is for debugging. just because its abstract doesnt mean its heavy, it means its flexible. we have maxed out at 500hz, the config allows you to set the hz for each update whenever you want within the loop, you can set your imu, your radio and pid hz, we are still finding out what is the optimal times to run each

https://code.google.com/p/quadnet/

we think its tx, everything else looks good in code now we just need to cool the rx down, chris take a look at the scale PID and RX, we're cleaning it up now

well we're dealing with some hardware issues but have just put in an rx scale to tone it down, basically a parabola on the stick control

Yes i pm'ed you the credentials, let me give you your own Harness for your implementation will call it Quad.Net.FeziQuad.Implementation, dont think it'll fly right off bat there's a few things that might still need to be done, you've used some fairly specific esc implemntations and mine use some assumptions that i dont know yet, but not much will PM once i've committed with changes. Chris at this point i'm not sure the hz range i've seen has varied between 250 and 1000 level i've seen is, once i get some hardware in i can be more specific, I'll defer to Chris and Luke on this one

I have updated and made a very quick implementation of the hardware you have, there may be a few bugs in there but not bad for 10 mins work, your startup project is Quad.Net.FlightController.Implementations.FeziQuad

Magoocas, I didnt realize that video was you!!!! With a little bit of work you could fly with the code i've updated and a little bit of messing around with the source. I would love to see it run!

Magoocas, Fellow Canuck. The aeroquad software is pretty good. I've looked through a few of their classes and they've done agreat job with some of the avionics and physics concepts. A big part of what i am trying to accomplish in this project is a nice domain of those concepts, they seem to have mashed them together quite a bit, I come from DDD and want to apply that technique here. A port would be great and we can just try and organize it better. I have been inundated with my day job and my own $ making projects the last 2 weeks, but I'm about to order all my parts and start with the three gyro concept which will be just the stab part, not the full 9 degrees of freedom concepts. I will PM you for SVN repository

http://www.engadget....nType=wl-gadget

basically you read from one 3 axis gyro or 3 one axis gyro and from a 4 channel reciever and four escs which will be controlled via PWM

below is the simple data used by the reciever and gyro(s)

namespace Quad.Net.Avionics
{
    public class AircraftPrincipalAxes
    {
        /// <summary>
        /// http://en.wikipedia.org/wiki/Aircraft_principal_axes
        /// </summary>
        private int _pitchAngle;
        private int _rollAngle;
        private int _yawAngle;

        public AircraftPrincipalAxes(int pitchAngle, int rollAngle, int yawAngle)
        {
            _pitchAngle = pitchAngle;
            _rollAngle = rollAngle;
            _yawAngle = yawAngle;
        }

        public int PitchAngle
        {
            get { return _pitchAngle; }
        }

        public int RollAngle
        {
            get { return _rollAngle; }
        }

        public int YawAngle
        {
            get { return _yawAngle; }
        }

    }
}

using Quad.Net.Avionics;

namespace Quad.Net.Hardware.Radio
{
    public interface IRadio
    {
        int Throttle { get; }
        AircraftPrincipalAxes GetAxes();
    }
}

using Quad.Net.Avionics;

namespace Quad.Net.Hardware.Gyro
{
    public interface IGyro
    {
        AircraftPrincipalAxes GetReading();
    }
}

these classes would be tied to the events coming off those 6 or 8(gyro implementation specific) pieces of hardware and updating their values within the control loop

you beat me to it Chris, thanks.

As chris said there are a bunch of IMU's that cacn calculate speed, angle acceleration, but the simnplest is to start with a 3 axis gyro and then the aim is to get more complicated later, eventually implementing 5-9 degrees of freedom

Yea when i implemented your code i realzied I did that in my implementation, it can be remedied with a quick change to the control loop by calling the old update method explicitly and an alter of the GetReading() method not to call the update. I did a very quick and dirty with your implementation just as show of the style, the returning new AircraftPrinciplaAxes(...) each time is not efficient and can be remedied quick, but i didnt go into specifics there. If you make the change to the update and the return objects of AircraftPrinciplaAxes being held in memory and updating constantly GC will be exacctly what it s was in your old implementation

i thought we were a bit more stable, we still have some work to do then

im putting in my order for hardware tomorrow

source updated, gc issue resolved as well as redundant update calls, precision is fixed as well as PID using windup guard was not properly implemented, if you can implement radio u should be solid, its the exact same code now

https://code.google.com/p/quadnet/ First stab at it, dont mind the pun

that video when posted on engadget is what got me really interested. there's some guys at MIT doing some cool stuff too. The one i found a lil crazy was the one that had the kinect hardware attached for object detection, which i think can be done alot simpler with less weight but still a neat concept